A manual has no problem with fast reverse/first shifts. Of course, that is not ideal for the clutch so I only do it when I'm in a rush. Easy to come to a full stop before shifting in the Niro without costing time partly because it is faster! Of course, some coordination is necessary if you are going to reverse into traffic. Slightly less than a full stop means a delay.
2018 Kia LX HEV Metal Stream with Advanced Tech